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readme
This commit is contained in:
eddyem
parent
a2ac6e2c74
commit
7ed2365045
@ -1,199 +0,0 @@
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/*
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* geany_encoding=koi8-r
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* main.c
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*
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* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*
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*/
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#include "movecmdlnopts.h"
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#include "signal.h"
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#include <libmmpp.h>
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#include <stdio.h>
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#include <string.h>
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#include <usefull_macros.h>
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// All return states of main():
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enum{
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RET_ALLOK = 0,
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RET_NOTFOUND, // none of MCU found or didn't found seeking MCU
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RET_ONLYONE, // only one MCU found
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RET_COMMERR, // communication error
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RET_CANTINIT, // can't init motors: error during initiation or some of motors are moving
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RET_WAITERR, // error occured during waiting procedure
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RET_ERROR = 9, // uncoverable error - from libsnippets
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RET_HELPCALL = 255 // user call help (or give wrong parameter[s]) - from libsnippets
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};
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static glob_pars *G;
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/**
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* We REDEFINE the default WEAK function of signal processing
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*/
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void __attribute__((noreturn)) signals(int sig){
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if(sig){
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signal(sig, SIG_IGN);
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DBG("Get signal %d, quit.\n", sig);
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}
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if(G->pidfile) // remove unnesessary PID file
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unlink(G->pidfile);
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restore_console();
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mmpp_close();
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exit(sig);
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}
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void __attribute__((noreturn)) iffound_default(pid_t pid){
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ERRX("Another copy of this process found, pid=%d. Exit.", pid);
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}
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static double convangle(double val){
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int X = (int)(val / 360.);
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val -= 360. * (double)X;
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return val;
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}
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/**
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* @return 1 if motor start moving else return 0
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*/
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static int parsemotans(ttysend_status ans, const char *prefix){
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DBG("parse ans: %d (prefix: %s)", ans, prefix);
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if(ans == SEND_ALLOK) return 1;
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else if(ans == SEND_ERR) WARNX(_("%s moving error!"), prefix);
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else if(ans == SEND_ESWITCH) WARNX(_("%s is on end-switch and can't move further"), prefix);
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else if(ans == SEND_OTHER) WARNX(_("Can't move %s: bad steps amount or still moving"), prefix);
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return 0;
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}
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/**
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* @brief movemotor - move motor
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* @param mcu - MCU# (controller No, 1 or 2)
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* @param motnum - motor# (0 or 1)
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* @param steps - steps amount (
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* @param name
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* @return 0 if motor can't move, else return 1
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*/
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static int movemotor(int mcu, int motnum, int steps, const char *name){
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char buf[32];
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int curpos = mot_getpos(mcu, motnum);
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if(curpos == INT_MIN){
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WARNX(_("Can't get current %s position"), name);
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return 0;
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}
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if(curpos < 0){ // need to init
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WARNX(_("Init of %s failed"), name);
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return 0;
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}
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if(G->absmove){
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if(steps < 0){
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if(motnum == 1){
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steps += (mcu == 1) ? STEPSREV1 : STEPSREV2; // convert rotator angle to positive
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}else{
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WARNX(_("Can't move to negative position"));
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return 0;
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}
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}
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steps -= curpos;
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}
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if(steps == 0){
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MSG(name, _("already at position"));
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return 0;
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}
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DBG("try to move motor%d of mcu %d for %d steps", motnum, mcu, steps);
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snprintf(buf, 32, "%dM%dM%d", mcu, motnum, steps);
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ttysend_status ans = tty_sendcmd(buf);
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return parsemotans(ans, name);
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}
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int main(int argc, char **argv){
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// char cmd[32];
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int waitforstop = 0;
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int rtn_status = RET_ALLOK;
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initial_setup();
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signal(SIGTERM, signals); // kill (-15)
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signal(SIGINT, signals); // ctrl+C
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signal(SIGQUIT, SIG_IGN); // ctrl+\ .
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signal(SIGTSTP, SIG_IGN); // ctrl+Z
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setbuf(stdout, NULL);
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G = parse_args(argc, argv);
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check4running(NULL, G->pidfile);
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DBG("Try to open serial %s", G->comdev);
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if(mmpp_tryopen(G->comdev, G->speed)){
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ERRX(_("Can't open %s with speed %d. Exit."), G->comdev, G->speed);
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}
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if(handshake()) signals(RET_NOTFOUND); // test connection & get all positions
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if(G->waitold){
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if(tty_wait()) signals(RET_WAITERR);
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handshake();
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}
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if(G->showtemp){
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if(showtemp() != 2) rtn_status = RET_ONLYONE;
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}
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if(G->stopall){ // stop everything before analyze other commands
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if(tty_stopall()) rtn_status = RET_COMMERR;
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else MSG(_("All motors stopped"), NULL);
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}
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if(G->sendraw){
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MSG(_("Send raw string"), G->sendraw);
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char *got = tty_sendraw(G->sendraw);
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if(got){
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MSG(_("Receive"), got);
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if(quiet) printf("%s", got);
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}else WARNX(_("Nothing received"));
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}
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if(G->rot1angle > -999. || G->rot2angle > -999. || G->l1steps != INT_MAX || G->l2steps != INT_MAX){
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// all other commands are tied with moving, so check if motors are inited
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if(init_motors()) rtn_status = RET_CANTINIT;
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else{
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if(G->rot1angle > -999.){
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double angle = convangle(G->rot1angle);
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int steps = (int)((STEPSREV1/360.) * angle);
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waitforstop = movemotor(1, 1, steps, "polaroid");
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}
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if(G->rot2angle > -999.){
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double angle = convangle(G->rot2angle);
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int steps = (int)((STEPSREV2/360.) * angle);
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waitforstop = movemotor(2, 1, steps, "lambda/4");
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}
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if(G->l1steps != INT_MAX){
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waitforstop = movemotor(1, 0, G->l1steps, "polaroid stage");
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}
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if(G->l2steps != INT_MAX){
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waitforstop = movemotor(2, 0, G->l2steps, "lambda/4 stage");
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}
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}
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}
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if((waitforstop && !G->dontwait)) if(tty_wait()) rtn_status = RET_WAITERR;
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if(G->getstatus) tty_getstatus();
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if(G->reset){
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int **N = G->reset;
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while(*N){
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char cmd[3];
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if(**N < 1 || **N > 2){
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WARNX(_("Wrong MCU number (%d)"), **N);
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}else{
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if(!quiet) green("Reset controller #%d\n", **N);
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snprintf(cmd, 3, "%dR", **N);
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ttysend_status _U_ rt = tty_sendcmd(cmd);
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DBG("reset %d, result: %d", **N, rt);
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}
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++N;
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}
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}
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signals(rtn_status);
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}
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@ -1,112 +0,0 @@
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/*
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* cmdlnopts.c - the only function that parse cmdln args and returns glob parameters
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*
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* Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*/
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#include "movecmdlnopts.h"
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#include <assert.h>
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#include <limits.h>
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#include <math.h>
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#include <libmmpp.h>
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#include <stdio.h>
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#include <string.h>
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#include <strings.h>
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/*
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* here are global parameters initialisation
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*/
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static int help;
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static glob_pars G;
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int quiet = 0; // less messages @ stdout
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// DEFAULTS
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// default global parameters
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glob_pars const Gdefault = {
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.showtemp = 0
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,.comdev = "/dev/ttyUSB0"
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,.pidfile = "/tmp/MMPP_control.pid"
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,.speed = BAUD_RATE
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,.rot1angle = -1000.
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,.rot2angle = -1000.
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,.l1steps = INT_MAX
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,.l2steps = INT_MAX
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};
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/*
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* Define command line options by filling structure:
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* name has_arg flag val type argptr help
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*/
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static myoption cmdlnopts[] = {
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{"help", NO_ARGS, NULL, 'h', arg_none, APTR(&help), N_("show this help")},
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{"quiet", NO_ARGS, NULL, 'q', arg_none, APTR(&quiet), N_("don't show anything @screen from stdout")},
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{"absmove", NO_ARGS, NULL, 'A', arg_none, APTR(&G.absmove), N_("absolute move (without this flag moving is relative)")},
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{"temp", NO_ARGS, NULL, 't', arg_none, APTR(&G.showtemp), N_("show temperature of both MCU")},
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{"comdev", NEED_ARG, NULL, 'd', arg_string, APTR(&G.comdev), N_("terminal device filename")},
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{"sendraw", NEED_ARG, NULL, 'a', arg_string, APTR(&G.sendraw), N_("send RAW string to port and read the answer")},
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{"reset", MULT_PAR, NULL, 'E', arg_int, APTR(&G.reset), N_("reset given mcu (may be included several times)")},
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{"rot1", NEED_ARG, NULL, 'R', arg_double, APTR(&G.rot1angle), N_("rotate polaroid to given angle")},
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{"rot2", NEED_ARG, NULL, 'r', arg_double, APTR(&G.rot2angle), N_("rotate lambda/4 to given angle")},
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{"status", NO_ARGS, NULL, 's', arg_none, APTR(&G.getstatus), N_("get device status")},
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{"baudrate",NEED_ARG, NULL, 'b', arg_int, APTR(&G.speed), N_("TTY baudrate")},
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{"wait", NO_ARGS, NULL, 'w', arg_none, APTR(&G.waitold), N_("wait while all previous moving ends")},
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{"async", NO_ARGS, NULL, 'y', arg_none, APTR(&G.dontwait), N_("asynchronous moving - don't wait")},
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{"lin1", NEED_ARG, NULL, 'L', arg_int, APTR(&G.l1steps), N_("move polaroid linear stage to N steps")},
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{"lin2", NEED_ARG, NULL, 'l', arg_int, APTR(&G.l2steps), N_("move wave-plate linear stage to N steps")},
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{"pidfile", NEED_ARG, NULL, 'p', arg_string, APTR(&G.pidfile), N_("PID-file name")},
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{"stop", NO_ARGS, NULL, 'S', arg_none, APTR(&G.stopall), N_("stop any moving")},
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end_option
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};
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/**
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* Parse command line options and return dynamically allocated structure
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* to global parameters
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* @param argc - copy of argc from main
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* @param argv - copy of argv from main
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* @return allocated structure with global parameters
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*/
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glob_pars *parse_args(int argc, char **argv){
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void *ptr;
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ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
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// format of help: "Usage: progname [args]\n"
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// parse arguments
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parseargs(&argc, &argv, cmdlnopts);
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if(help) showhelp(-1, cmdlnopts);
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if(argc > 0){
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WARNX("%d unused parameters:\n", argc);
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for(int i = 0; i < argc; ++i)
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printf("\t%4d: %s\n", i+1, argv[i]);
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}
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return &G;
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}
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/**
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* @brief MSG show coloured message if `quiet` not set
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||||||
* !! This function adds trailing '\n' to message
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||||||
* @param s1 - green part of message (may be null)
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* @param s2 - normal colored part of messate (may be null)
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*/
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void MSG(const char *s1, const char *s2){
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if(quiet) return;
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if(s1){
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green("%s%s", s1, s2 ? ": " : "\n");
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}
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if(s2) printf("%s\n", s2);
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}
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@ -1,57 +0,0 @@
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/*
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||||||
* cmdlnopts.h - comand line options for parceargs
|
|
||||||
*
|
|
||||||
* Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
|
|
||||||
*
|
|
||||||
* This program is free software; you can redistribute it and/or modify
|
|
||||||
* it under the terms of the GNU General Public License as published by
|
|
||||||
* the Free Software Foundation; either version 2 of the License, or
|
|
||||||
* (at your option) any later version.
|
|
||||||
*
|
|
||||||
* This program is distributed in the hope that it will be useful,
|
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
||||||
* GNU General Public License for more details.
|
|
||||||
*
|
|
||||||
* You should have received a copy of the GNU General Public License
|
|
||||||
* along with this program; if not, write to the Free Software
|
|
||||||
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
|
|
||||||
* MA 02110-1301, USA.
|
|
||||||
*/
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||||||
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#pragma once
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#ifndef MOVECMDLNOPTS_H__
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#define MOVECMDLNOPTS_H__
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|
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||||||
#include <stdint.h>
|
|
||||||
#include <usefull_macros.h>
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|
||||||
|
|
||||||
/*
|
|
||||||
* here are some typedef's for global data
|
|
||||||
*/
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|
||||||
typedef struct{
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||||||
int showtemp; // show temperatures of both MCU
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|
||||||
char *comdev; // TTY device
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|
||||||
char *sendraw; // send RAW string
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|
||||||
char *pidfile; // pid file name
|
|
||||||
double rot1angle; // rotator 1 angle
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|
||||||
double rot2angle; // rotator 2 angle
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|
||||||
int speed; // TTY speed
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|
||||||
int getstatus; // get both MCU status
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|
||||||
int waitold; // wait for previous moving ends
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|
||||||
int dontwait; // don't wait for moving end
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|
||||||
int l1steps; // move linear stage 1 (polaroid) for N steps
|
|
||||||
int l2steps; // move linear stage 2 (L/4) for N steps
|
|
||||||
int absmove; // absolute move (to given position from zero-esw)
|
|
||||||
int stopall; // stop all moving
|
|
||||||
int **reset; // reset given MCU's
|
|
||||||
} glob_pars;
|
|
||||||
|
|
||||||
// default & global parameters
|
|
||||||
extern glob_pars const Gdefault;
|
|
||||||
extern int quiet;
|
|
||||||
|
|
||||||
glob_pars *parse_args(int argc, char **argv);
|
|
||||||
void MSG(const char *s1, const char *s2);
|
|
||||||
|
|
||||||
#endif // MOVECMDLNOPTS_H__
|
|
||||||
@ -9,6 +9,7 @@ MMPP (Multimode photometer-polarimeter) for the telescope Zeiss-1000 of SAO RAS.
|
|||||||
- **electronics** --- schematics and PCB (in kicad) of control system
|
- **electronics** --- schematics and PCB (in kicad) of control system
|
||||||
- **metal** --- all drawings for elements made in SAO
|
- **metal** --- all drawings for elements made in SAO
|
||||||
- **MMPP_control** --- simple CLI for moving parts control
|
- **MMPP_control** --- simple CLI for moving parts control
|
||||||
|
- **MMPP_lib** --- library for simplest MMPP management
|
||||||
- **STM32** --- firmware sources
|
- **STM32** --- firmware sources
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
Loading…
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Reference in New Issue
Block a user